icm20948.h

Go to the documentation of this file.

#pragma once
#ifndef DSY_ICM20948_H
#define DSY_ICM20948_H
 
// Misc configuration macros
#define I2C_MASTER_RESETS_BEFORE_FAIL \
    5 
#define NUM_FINISHED_CHECKS \
    100 
 
// Bank 0
#define ICM20X_B0_WHOAMI 0x00         
#define ICM20X_B0_USER_CTRL 0x03      
#define ICM20X_B0_LP_CONFIG 0x05      
#define ICM20X_B0_REG_INT_PIN_CFG 0xF 
#define ICM20X_B0_REG_INT_ENABLE 0x10 
#define ICM20X_B0_REG_INT_ENABLE_1 0x11 
#define ICM20X_B0_I2C_MST_STATUS \
    0x17 
#define ICM20X_B0_REG_BANK_SEL 0x7F 
#define ICM20X_B0_PWR_MGMT_1 0x06   
#define ICM20X_B0_ACCEL_XOUT_H 0x2D 
#define ICM20X_B0_GYRO_XOUT_H 0x33  
 
// Bank 2
#define ICM20X_B2_GYRO_SMPLRT_DIV 0x00    
#define ICM20X_B2_GYRO_CONFIG_1 0x01      
#define ICM20X_B2_ACCEL_SMPLRT_DIV_1 0x10 
#define ICM20X_B2_ACCEL_SMPLRT_DIV_2 0x11 
#define ICM20X_B2_ACCEL_CONFIG_1 0x14     
 
// Bank 3
#define ICM20X_B3_I2C_MST_ODR_CONFIG 0x0 
#define ICM20X_B3_I2C_MST_CTRL 0x1       
#define ICM20X_B3_I2C_MST_DELAY_CTRL 0x2 
#define ICM20X_B3_I2C_SLV0_ADDR \
    0x3 
#define ICM20X_B3_I2C_SLV0_REG \
    0x4 
#define ICM20X_B3_I2C_SLV0_CTRL 0x5 
#define ICM20X_B3_I2C_SLV0_DO 0x6   
 
#define ICM20X_B3_I2C_SLV4_ADDR \
    0x13 
#define ICM20X_B3_I2C_SLV4_REG \
    0x14 
#define ICM20X_B3_I2C_SLV4_CTRL 0x15 
#define ICM20X_B3_I2C_SLV4_DO 0x16   
#define ICM20X_B3_I2C_SLV4_DI 0x17   
 
#define ICM20948_CHIP_ID 0xEA 
 
#define ICM20948_I2CADDR_DEFAULT 0x69 
#define ICM20948_MAG_ID 0x09          
 
#define ICM20948_UT_PER_LSB 0.15 
 
#define AK09916_WIA2 0x01  
#define AK09916_ST1 0x10   
#define AK09916_HXL 0x11   
#define AK09916_HXH 0x12   
#define AK09916_HYL 0x13   
#define AK09916_HYH 0x14   
#define AK09916_HZL 0x15   
#define AK09916_HZH 0x16   
#define AK09916_ST2 0x18   
#define AK09916_CNTL2 0x31 
#define AK09916_CNTL3 0x32 
 
#define SENSORS_GRAVITY_EARTH (9.80665F)
#define SENSORS_DPS_TO_RADS (0.017453293F)
 
namespace daisy
{
class Icm20948I2CTransport
{
  public:
    Icm20948I2CTransport() {}
    ~Icm20948I2CTransport() {}
 
    struct Config
    {
        I2CHandle::Config::Peripheral periph;
        I2CHandle::Config::Speed      speed;
        Pin                           scl;
        Pin                           sda;
 
        uint8_t address;
 
        Config()
        {
            address = ICM20948_I2CADDR_DEFAULT;
 
            periph = I2CHandle::Config::Peripheral::I2C_1;
            speed  = I2CHandle::Config::Speed::I2C_400KHZ;
 
            scl = Pin(PORTB, 8);
            sda = Pin(PORTB, 9);
        }
    };
 
    inline void Init(Config config)
    {
        config_ = config;
 
        I2CHandle::Config i2c_config;
        i2c_config.mode   = I2CHandle::Config::Mode::I2C_MASTER;
        i2c_config.periph = config.periph;
        i2c_config.speed  = config.speed;
 
        i2c_config.pin_config.scl = config.scl;
        i2c_config.pin_config.sda = config.sda;
 
        i2c_.Init(i2c_config);
    }
 
    void Write(uint8_t *data, uint16_t size)
    {
        error_ |= I2CHandle::Result::OK
                  != i2c_.TransmitBlocking(config_.address, data, size, 10);
    }
 
    void Read(uint8_t *data, uint16_t size)
    {
        error_ |= I2CHandle::Result::OK
                  != i2c_.ReceiveBlocking(config_.address, data, size, 10);
    }
 
    void Write8(uint8_t reg, uint8_t value)
    {
        uint8_t buffer[2];
 
        buffer[0] = reg;
        buffer[1] = value;
 
        Write(buffer, 2);
    }
 
    void Write16(uint8_t reg, uint16_t value)
    {
        uint8_t buffer[3];
 
        buffer[0] = reg;
        buffer[1] = value >> 8;
        buffer[1] = value & 0xFF;
 
        Write(buffer, 2);
    }
 
    void ReadReg(uint8_t reg, uint8_t *buff, uint8_t size)
    {
        Write(&reg, 1);
        Read(buff, size);
    }
 
    uint8_t Read8(uint8_t reg)
    {
        uint8_t buffer;
        ReadReg(reg, &buffer, 1);
        return buffer;
    }
 
    bool GetError()
    {
        bool tmp = error_;
        error_   = false;
        return tmp;
    }
 
  private:
    I2CHandle i2c_;
    Config    config_;
 
    // true if error has occured since last check
    bool error_;
};
 
class Icm20948SpiTransport
{
  public:
    Icm20948SpiTransport() {}
    ~Icm20948SpiTransport() {}
 
    struct Config
    {
        SpiHandle::Config::Peripheral periph;
        Pin                           sclk;
        Pin                           miso;
        Pin                           mosi;
        Pin                           nss;
 
        Config()
        {
            periph = SpiHandle::Config::Peripheral::SPI_1;
            sclk   = Pin(PORTG, 11);
            miso   = Pin(PORTB, 4);
            mosi   = Pin(PORTB, 5);
            nss    = Pin(PORTG, 10);
        }
    };
 
    inline void Init(Config config)
    {
        SpiHandle::Config spi_conf;
        spi_conf.mode           = SpiHandle::Config::Mode::MASTER;
        spi_conf.direction      = SpiHandle::Config::Direction::TWO_LINES;
        spi_conf.clock_polarity = SpiHandle::Config::ClockPolarity::LOW;
        spi_conf.clock_phase    = SpiHandle::Config::ClockPhase::ONE_EDGE;
        spi_conf.baud_prescaler = SpiHandle::Config::BaudPrescaler::PS_2;
        spi_conf.nss            = SpiHandle::Config::NSS::SOFT;
 
        spi_conf.periph          = config.periph;
        spi_conf.pin_config.sclk = config.sclk;
        spi_conf.pin_config.miso = config.miso;
        spi_conf.pin_config.mosi = config.mosi;
        spi_conf.pin_config.nss  = config.nss;
 
        spi_.Init(spi_conf);
    }
 
    void Write(uint8_t *data, uint16_t size)
    {
        error_ |= SpiHandle::Result::OK != spi_.BlockingTransmit(data, size);
    }
 
    void Read(uint8_t *data, uint16_t size)
    {
        error_ |= SpiHandle::Result::OK != spi_.BlockingReceive(data, size, 10);
    }
 
    void Write8(uint8_t reg, uint8_t value)
    {
        uint8_t buffer[2];
 
        buffer[0] = reg & ~0x80;
        buffer[1] = value;
 
        Write(buffer, 2);
    }
 
    void Write16(uint8_t reg, uint16_t value)
    {
        uint8_t buffer[3];
 
        buffer[0] = reg & ~0x80;
        buffer[1] = value >> 8;
        buffer[2] = value & 0xFF;
 
        Write(buffer, 3);
    }
 
    void ReadReg(uint8_t reg, uint8_t *buff, uint8_t size)
    {
        reg = uint8_t(reg | 0x80);
        Write(&reg, 1);
        Read(buff, size);
    }
 
 
    uint8_t Read8(uint8_t reg)
    {
        uint8_t buffer;
        ReadReg(reg, &buffer, 1);
        return buffer;
    }
 
    bool GetError()
    {
        bool tmp = error_;
        error_   = false;
        return tmp;
    }
 
  private:
    SpiHandle spi_;
    bool      error_;
};
 
template <typename Transport>
class Icm20948
{
  public:
    Icm20948() {}
    ~Icm20948() {}
 
    struct Config
    {
        typename Transport::Config transport_config;
 
        Config() {}
    };
 
    struct Icm20948Vect
    {
        float x;
        float y;
        float z;
    };
 
    enum icm20948_accel_range_t
    {
        ICM20948_ACCEL_RANGE_2_G,
        ICM20948_ACCEL_RANGE_4_G,
        ICM20948_ACCEL_RANGE_8_G,
        ICM20948_ACCEL_RANGE_16_G,
    };
 
    enum icm20948_gyro_range_t
    {
        ICM20948_GYRO_RANGE_250_DPS,
        ICM20948_GYRO_RANGE_500_DPS,
        ICM20948_GYRO_RANGE_1000_DPS,
        ICM20948_GYRO_RANGE_2000_DPS,
    };
 
    enum ak09916_data_rate_t
    {
        AK09916_MAG_DATARATE_SHUTDOWN = 0x0, 
        AK09916_MAG_DATARATE_SINGLE
        = 0x1, 
        AK09916_MAG_DATARATE_10_HZ  = 0x2, 
        AK09916_MAG_DATARATE_20_HZ  = 0x4, 
        AK09916_MAG_DATARATE_50_HZ  = 0x6, 
        AK09916_MAG_DATARATE_100_HZ = 0x8, 
    };
 
    enum Result
    {
        OK = 0,
        ERR
    };
 
    Result Init(Config config)
    {
        config_ = config;
 
        transport_.Init(config_.transport_config);
 
        SetBank(0);
 
        uint8_t chip_id = Read8(ICM20X_B0_WHOAMI);
 
        if(chip_id != ICM20948_CHIP_ID)
        {
            return ERR;
        }
 
        _sensorid_accel = 0;
        _sensorid_gyro  = 1;
        _sensorid_mag   = 2;
        _sensorid_temp  = 3;
 
        Reset();
 
        // take out of default sleep state
        WriteBits(ICM20X_B0_PWR_MGMT_1, 0, 1, 6);
 
        // 3 will be the largest range for either sensor
        WriteGyroRange(3);
        WriteAccelRange(3);
 
        // 1100Hz/(1+10) = 100Hz
        SetGyroRateDivisor(10);
 
        // # 1125Hz/(1+20) = 53.57Hz
        SetAccelRateDivisor(20);
 
        System::Delay(20);
 
        return GetTransportError();
    }
 
    void Reset()
    {
        SetBank(0);
 
        WriteBits(ICM20X_B0_PWR_MGMT_1, 1, 1, 7);
        System::Delay(20);
 
        while(ReadBits(ICM20X_B0_PWR_MGMT_1, 1, 7))
        {
            System::Delay(10);
        };
 
        System::Delay(50);
    }
 
    uint8_t GetMagId()
    {
        // verify the magnetometer id
        return ReadExternalRegister(0x8C, 0x01);
    }
 
    Result SetupMag()
    {
        SetI2CBypass(false);
 
        ConfigureI2CMaster();
 
        EnableI2CMaster(true);
 
        if(AuxI2CBusSetupFailed() == ERR)
        {
            return ERR;
        }
 
        // set mag data rate
        if(!SetMagDataRate(AK09916_MAG_DATARATE_100_HZ))
        {
            // Serial.println("Error setting magnetometer data rate on external bus");
            return ERR;
        }
 
        // TODO: extract method
        // Set up Slave0 to proxy Mag readings
        SetBank(3);
 
        // set up slave0 to proxy reads to mag
        Write8(ICM20X_B3_I2C_SLV0_ADDR, 0x8C);
        if(GetTransportError() != OK)
        {
            return ERR;
        }
 
        Write8(ICM20X_B3_I2C_SLV0_REG, 0x10);
        if(GetTransportError() != OK)
        {
            return ERR;
        }
 
        // enable, read 9 bytes
        Write8(ICM20X_B3_I2C_SLV0_CTRL, 0x89);
        if(GetTransportError() != OK)
        {
            return ERR;
        }
 
        return OK;
    }
 
    uint8_t ReadMagRegister(uint8_t mag_reg_addr)
    {
        return ReadExternalRegister(0x8C, mag_reg_addr);
    }
 
    bool WriteMagRegister(uint8_t mag_reg_addr, uint8_t value)
    {
        return WriteExternalRegister(0x0C, mag_reg_addr, value);
    }
 
    void ScaleValues()
    {
        icm20948_gyro_range_t gyro_range
            = (icm20948_gyro_range_t)current_gyro_range_;
        icm20948_accel_range_t accel_range
            = (icm20948_accel_range_t)current_accel_range_;
 
        float accel_scale = 1.0;
        float gyro_scale  = 1.0;
 
        if(gyro_range == ICM20948_GYRO_RANGE_250_DPS)
            gyro_scale = 131.0;
        if(gyro_range == ICM20948_GYRO_RANGE_500_DPS)
            gyro_scale = 65.5;
        if(gyro_range == ICM20948_GYRO_RANGE_1000_DPS)
            gyro_scale = 32.8;
        if(gyro_range == ICM20948_GYRO_RANGE_2000_DPS)
            gyro_scale = 16.4;
 
        if(accel_range == ICM20948_ACCEL_RANGE_2_G)
            accel_scale = 16384.0;
        if(accel_range == ICM20948_ACCEL_RANGE_4_G)
            accel_scale = 8192.0;
        if(accel_range == ICM20948_ACCEL_RANGE_8_G)
            accel_scale = 4096.0;
        if(accel_range == ICM20948_ACCEL_RANGE_16_G)
            accel_scale = 2048.0;
 
        gyroX = rawGyroX / gyro_scale;
        gyroY = rawGyroY / gyro_scale;
        gyroZ = rawGyroZ / gyro_scale;
 
        accX = rawAccX / accel_scale;
        accY = rawAccY / accel_scale;
        accZ = rawAccZ / accel_scale;
 
        magX = rawMagX * ICM20948_UT_PER_LSB;
        magY = rawMagY * ICM20948_UT_PER_LSB;
        magZ = rawMagZ * ICM20948_UT_PER_LSB;
    }
 
    void SetAccelRateDivisor(uint16_t new_accel_divisor)
    {
        SetBank(2);
        Write16(ICM20X_B2_ACCEL_SMPLRT_DIV_1, new_accel_divisor);
        SetBank(0);
    }
 
    icm20948_accel_range_t GetAccelRange()
    {
        return (icm20948_accel_range_t)ReadAccelRange();
    }
 
    uint8_t ReadAccelRange()
    {
        SetBank(2);
        uint8_t range = ReadBits(ICM20X_B2_ACCEL_CONFIG_1, 2, 1);
        SetBank(0);
        return range;
    }
 
    void WriteAccelRange(uint8_t new_accel_range)
    {
        SetBank(2);
        WriteBits(ICM20X_B2_ACCEL_CONFIG_1, new_accel_range, 2, 1);
        current_accel_range_ = new_accel_range;
        SetBank(0);
    }
 
    void SetAccelRange(icm20948_accel_range_t new_accel_range)
    {
        WriteAccelRange((uint8_t)new_accel_range);
    }
 
 
    void SetGyroRateDivisor(uint8_t new_gyro_divisor)
    {
        SetBank(2);
        Write8(ICM20X_B2_GYRO_SMPLRT_DIV, new_gyro_divisor);
        SetBank(0);
    }
 
    icm20948_gyro_range_t GetGyroRange()
    {
        return (icm20948_gyro_range_t)ReadGyroRange();
    }
 
    void SetGyroRange(icm20948_gyro_range_t new_gyro_range)
    {
        WriteGyroRange((uint8_t)new_gyro_range);
    }
 
    void WriteGyroRange(uint8_t new_gyro_range)
    {
        SetBank(2);
        WriteBits(ICM20X_B2_GYRO_CONFIG_1, new_gyro_range, 2, 1);
        current_gyro_range_ = new_gyro_range;
        SetBank(0);
    }
 
 
    uint8_t ReadGyroRange()
    {
        SetBank(2);
        uint8_t range = ReadBits(ICM20X_B2_GYRO_CONFIG_1, 2, 1);
        SetBank(0);
        return range;
    }
 
 
    ak09916_data_rate_t GetMagDataRate()
    {
        uint8_t raw_mag_rate = ReadMagRegister(AK09916_CNTL2);
        return (ak09916_data_rate_t)(raw_mag_rate);
    }
 
    bool SetMagDataRate(ak09916_data_rate_t rate)
    {
        /* Following the datasheet, the sensor will be set to
        * AK09916_MAG_DATARATE_SHUTDOWN followed by a 100ms delay, followed by
        * setting the new data rate.
        *
        * See page 9 of https://www.y-ic.es/datasheet/78/SMDSW.020-2OZ.pdf */
 
        // don't need to read/mask because there's nothing else in the register and
        // it's right justified
        bool success
            = WriteMagRegister(AK09916_CNTL2, AK09916_MAG_DATARATE_SHUTDOWN);
        System::Delay(1);
        return WriteMagRegister(AK09916_CNTL2, rate) && success;
    }
 
    void SetBank(uint8_t bank_number)
    {
        Write8(ICM20X_B0_REG_BANK_SEL, (bank_number & 0b11) << 4);
    }
 
 
    uint8_t ReadExternalRegister(uint8_t slv_addr, uint8_t reg_addr)
    {
        return AuxillaryRegisterTransaction(true, slv_addr, reg_addr);
    }
 
    bool
    WriteExternalRegister(uint8_t slv_addr, uint8_t reg_addr, uint8_t value)
    {
        return (bool)AuxillaryRegisterTransaction(
            false, slv_addr, reg_addr, value);
    }
 
    uint8_t AuxillaryRegisterTransaction(bool    read,
                                         uint8_t slv_addr,
                                         uint8_t reg_addr,
                                         uint8_t value)
    {
        SetBank(3);
 
        if(read)
        {
            // set high bit for read, presumably for multi-byte reads
            slv_addr |= 0x80;
        }
        else
        {
            Write8(ICM20X_B3_I2C_SLV4_DO, value);
            if(GetTransportError() == ERR)
            {
                return (uint8_t) false;
            }
        }
 
        Write8(ICM20X_B3_I2C_SLV4_ADDR, slv_addr);
        if(GetTransportError() == ERR)
        {
            return (uint8_t) false;
        }
 
        Write8(ICM20X_B3_I2C_SLV4_REG, reg_addr);
        if(GetTransportError() == ERR)
        {
            return (uint8_t) false;
        }
 
        Write8(ICM20X_B3_I2C_SLV4_CTRL, 0x80);
        if(GetTransportError() == ERR)
        {
            return (uint8_t) false;
        }
 
        SetBank(0);
        uint8_t tries = 0;
        // wait until the operation is finished
        while(ReadBits(ICM20X_B0_I2C_MST_STATUS, 1, 6) != true)
        {
            tries++;
            if(tries >= NUM_FINISHED_CHECKS)
            {
                return (uint8_t) false;
            }
        }
 
        if(read)
        {
            SetBank(3);
            return Read8(ICM20X_B3_I2C_SLV4_DI);
        }
 
        return (uint8_t) true;
    }
 
    void Process()
    {
        SetBank(0);
 
        // reading 9 bytes of mag data to fetch the register that tells the mag we've
        // read all the data
        const uint8_t numbytes
            = 14 + 9; // Read Accel, gyro, temp, and 9 bytes of mag
 
        uint8_t buffer[numbytes];
        transport_.ReadReg(ICM20X_B0_ACCEL_XOUT_H, buffer, numbytes);
 
        rawAccX = buffer[0] << 8 | buffer[1];
        rawAccY = buffer[2] << 8 | buffer[3];
        rawAccZ = buffer[4] << 8 | buffer[5];
 
        rawGyroX = buffer[6] << 8 | buffer[7];
        rawGyroY = buffer[8] << 8 | buffer[9];
        rawGyroZ = buffer[10] << 8 | buffer[11];
 
        temperature = buffer[12] << 8 | buffer[13];
 
        rawMagX = ((buffer[16] << 8)
                   | (buffer[15] & 0xFF)); // Mag data is read little endian
        rawMagY = ((buffer[18] << 8) | (buffer[17] & 0xFF));
        rawMagZ = ((buffer[20] << 8) | (buffer[19] & 0xFF));
 
        ScaleValues();
        SetBank(0);
    }
 
    Icm20948Vect GetAccelVect()
    {
        Icm20948Vect vect;
        vect.x = accX * SENSORS_GRAVITY_EARTH;
        vect.y = accY * SENSORS_GRAVITY_EARTH;
        vect.z = accZ * SENSORS_GRAVITY_EARTH;
 
        return vect;
    }
 
    Icm20948Vect GetGyroVect()
    {
        Icm20948Vect vect;
        vect.x = gyroX * SENSORS_DPS_TO_RADS;
        vect.y = gyroY * SENSORS_DPS_TO_RADS;
        vect.z = gyroZ * SENSORS_DPS_TO_RADS;
 
        return vect;
    }
 
    Icm20948Vect GetMagVect()
    {
        Icm20948Vect vect;
        vect.x = magX;
        vect.y = magY;
        vect.z = magZ;
 
        return vect;
    }
 
    float GetTemp() { return (temperature / 333.87) + 21.0; }
 
    uint8_t Read8(uint8_t reg) { return transport_.Read8(reg); }
 
    void Write8(uint8_t reg, uint8_t value)
    {
        return transport_.Write8(reg, value);
    }
 
    void Write16(uint8_t reg, uint16_t value)
    {
        return transport_.Write16(reg, value);
    }
 
    void ReadReg(uint8_t reg, uint8_t *buff, uint8_t size)
    {
        return transport_.ReadReg(reg, buff, size);
    }
 
    uint8_t ReadBits(uint8_t reg, uint8_t bits, uint8_t shift)
    {
        uint8_t val = Read8(reg);
        val >>= shift;
        return val & ((1 << (bits)) - 1);
    }
 
    void WriteBits(uint8_t reg, uint8_t data, uint8_t bits, uint8_t shift)
    {
        uint8_t val = Read8(reg);
 
        // mask off the data before writing
        uint8_t mask = (1 << (bits)) - 1;
        data &= mask;
 
        mask <<= shift;
        val &= ~mask;         // remove the current data at that spot
        val |= data << shift; // and add in the new data
 
        Write8(reg, val);
    }
 
    void SetI2CBypass(bool bypass_i2c)
    {
        SetBank(0);
        WriteBits(ICM20X_B0_REG_INT_PIN_CFG, bypass_i2c, 1, 1);
    }
 
    Result EnableI2CMaster(bool enable_i2c_master)
    {
        SetBank(0);
        WriteBits(ICM20X_B0_USER_CTRL, enable_i2c_master, 1, 5);
        return GetTransportError();
    }
 
    Result ConfigureI2CMaster(void)
    {
        SetBank(3);
        Write8(ICM20X_B3_I2C_MST_CTRL, 0x17);
        return GetTransportError();
    }
 
    void ResetI2CMaster(void)
    {
        SetBank(0);
 
        WriteBits(ICM20X_B0_USER_CTRL, true, 1, 1);
        while(ReadBits(ICM20X_B0_USER_CTRL, 1, 1))
        {
            System::Delay(10);
        }
        System::Delay(100);
    }
 
    // A million thanks to the SparkFun folks for their library that I pillaged to
    // write this method! See their Arduino library here:
    // https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary
    Result AuxI2CBusSetupFailed(void)
    {
        // check aux I2C bus connection by reading the magnetometer chip ID
        for(int i = 0; i < I2C_MASTER_RESETS_BEFORE_FAIL; i++)
        {
            if(GetMagId() != ICM20948_MAG_ID)
            {
                ResetI2CMaster();
            }
            else
            {
                return ERR;
            }
        }
        return OK;
    }
 
    Result GetTransportError() { return transport_.GetError() ? ERR : OK; }
 
  private:
    Config    config_;
    Transport transport_;
 
    uint16_t _sensorid_accel, 
        _sensorid_gyro,       
        _sensorid_mag,        
        _sensorid_temp;       
 
    uint8_t current_accel_range_; 
    uint8_t current_gyro_range_;  
 
    int16_t rawAccX, 
        rawAccY,     
        rawAccZ,     
        rawTemp,     
        rawGyroX,    
        rawGyroY,    
        rawGyroZ,    
        rawMagX,     
        rawMagY,     
        rawMagZ;     
 
    float temperature, 
        accX,          
        accY,          
        accZ,          
        gyroX,         
        gyroY,         
        gyroZ,         
        magX,          
        magY,          
        magZ;          
};
 
using Icm20948I2C = Icm20948<Icm20948I2CTransport>;
using Icm20948Spi = Icm20948<Icm20948SpiTransport>;
} // namespace daisy
#endif